Skip to content
BCV
Timelines
Thoughts
Experiment
Documentation of used HWs
Measure System Performance
Sloved Issues
DL Models
CS-2 tutorial at Durham HPC Days
Increasing buffer size on ROS
Streaming EEG
Cap electrodes
Reading List
Flashing Jetson Xavier NX
Installing Required PKGs
Visualizing EEG Data
Shill Unix Commands
Create Systemd Services
Paper - check
Nvidia Jetson Developer Kit
Normalizing EEG Channels
Systematic Review
EEG Annotation
Meetings
Signal Processing
Hamilton Supercomputer
VS issues
Adjusting Resolution and Frame Rate
Testing flickering circles
DL Models
Bag Files
LV - 11 JUL
Share
Explore

rostopic list

Command:
rosbag record --split --size=1024 -o S01S01S1 \ /eeg_data \ /processed_image \ /yoctopuce/fix \ /yoctopuce/imu \ /yoctopuce/light \ /set_feedback \ /tf_static \ /status \ /cmd_vel \ /cmd_vel/joystick \ /managed/joy \ /odom \ /robot_status \ /zed/zed_node/left/camera_info \ /zed/zed_node/left/image_rect_color \ /zed/zed_node/left/image_rect_color/compressed \ /zed/zed_node/left/image_rect_color/compressed/parameter_descriptions \ /zed/zed_node/left/image_rect_color/compressed/parameter_updates \ /zed/zed_node/odom \ /zed/zed_node/odom/status \ /zed/zed_node/path_map \ /zed/zed_node/path_odom \ /zed/zed_node/pose \ /zed/zed_node/pose/status \ /zed/zed_node/pose_with_covariance \ /zed/zed_node/right/camera_info \ /zed/zed_node/right/image_rect_color \ /zed/zed_node/right/image_rect_color/compressed \ /zed/zed_node/right/image_rect_color/compressed/parameter_descriptions \ /zed/zed_node/right/image_rect_color/compressed/parameter_updates
rosbag record --split --size=20480 -o S0BaS01S2 \ /eeg_data \ /processed_image
rosbag record --split --size=20480 -o S0SaraS01S2 \ /eeg_data \ /processed_image
​All topics:
/clicked_point /cmd_vel /cmd_vel/auto_dock /cmd_vel/freedom /cmd_vel/joystick /cmd_vel/managed /diagnostics /joy_priority /joystick/triangle /keyboard /managed/auto_dock /managed/freedom /managed/joy /managed/key /mode_toggle /odom /pause_navigation /robot_request_info /robot_status /robot_unique_info /rosout /rosout_agg /set_feedback /soft_estop/reset /soft_estop/trigger /status /tf /tf_static /trim_increment /yoctopuce/fix /yoctopuce/imu /yoctopuce/light /zed/joint_states /zed/zed_node/confidence/confidence_map /zed/zed_node/depth/camera_info /zed/zed_node/depth/depth_registered /zed/zed_node/depth/depth_registered/compressed /zed/zed_node/depth/depth_registered/compressed/parameter_descriptions /zed/zed_node/depth/depth_registered/compressed/parameter_updates /zed/zed_node/depth/depth_registered/compressedDepth /zed/zed_node/depth/depth_registered/compressedDepth/parameter_descriptions /zed/zed_node/depth/depth_registered/compressedDepth/parameter_updates /zed/zed_node/depth/depth_registered/theora /zed/zed_node/depth/depth_registered/theora/parameter_descriptions /zed/zed_node/depth/depth_registered/theora/parameter_updates /zed/zed_node/disparity/disparity_image /zed/zed_node/left/camera_info /zed/zed_node/left/image_rect_color /zed/zed_node/left/image_rect_color/compressed /zed/zed_node/left/image_rect_color/compressed/parameter_descriptions /zed/zed_node/left/image_rect_color/compressed/parameter_updates /zed/zed_node/left/image_rect_color/compressedDepth /zed/zed_node/left/image_rect_color/compressedDepth/parameter_descriptions /zed/zed_node/left/image_rect_color/compressedDepth/parameter_updates /zed/zed_node/left/image_rect_color/theora /zed/zed_node/left/image_rect_color/theora/parameter_descriptions /zed/zed_node/left/image_rect_color/theora/parameter_updates /zed/zed_node/left/image_rect_gray /zed/zed_node/left/image_rect_gray/compressed /zed/zed_node/left/image_rect_gray/compressed/parameter_descriptions /zed/zed_node/left/image_rect_gray/compressed/parameter_updates /zed/zed_node/left/image_rect_gray/compressedDepth /zed/zed_node/left/image_rect_gray/compressedDepth/parameter_descriptions /zed/zed_node/left/image_rect_gray/compressedDepth/parameter_updates /zed/zed_node/left/image_rect_gray/theora /zed/zed_node/left/image_rect_gray/theora/parameter_descriptions /zed/zed_node/left/image_rect_gray/theora/parameter_updates /zed/zed_node/left_raw/camera_info /zed/zed_node/left_raw/image_raw_color /zed/zed_node/left_raw/image_raw_color/compressed /zed/zed_node/left_raw/image_raw_color/compressed/parameter_descriptions /zed/zed_node/left_raw/image_raw_color/compressed/parameter_updates /zed/zed_node/left_raw/image_raw_color/compressedDepth /zed/zed_node/left_raw/image_raw_color/compressedDepth/parameter_descriptions /zed/zed_node/left_raw/image_raw_color/compressedDepth/parameter_updates /zed/zed_node/left_raw/image_raw_color/theora /zed/zed_node/left_raw/image_raw_color/theora/parameter_descriptions /zed/zed_node/left_raw/image_raw_color/theora/parameter_updates /zed/zed_node/left_raw/image_raw_gray /zed/zed_node/left_raw/image_raw_gray/compressed /zed/zed_node/left_raw/image_raw_gray/compressed/parameter_descriptions /zed/zed_node/left_raw/image_raw_gray/compressed/parameter_updates /zed/zed_node/left_raw/image_raw_gray/compressedDepth /zed/zed_node/left_raw/image_raw_gray/compressedDepth/parameter_descriptions /zed/zed_node/left_raw/image_raw_gray/compressedDepth/parameter_updates /zed/zed_node/left_raw/image_raw_gray/theora /zed/zed_node/left_raw/image_raw_gray/theora/parameter_descriptions /zed/zed_node/left_raw/image_raw_gray/theora/parameter_updates /zed/zed_node/odom /zed/zed_node/odom/status /zed/zed_node/parameter_descriptions /zed/zed_node/parameter_updates /zed/zed_node/path_map /zed/zed_node/path_odom /zed/zed_node/plane /zed/zed_node/plane_marker /zed/zed_node/point_cloud/cloud_registered /zed/zed_node/pose /zed/zed_node/pose/status /zed/zed_node/pose_with_covariance /zed/zed_node/rgb/camera_info /zed/zed_node/rgb/image_rect_color /zed/zed_node/rgb/image_rect_color/compressed /zed/zed_node/rgb/image_rect_color/compressed/parameter_descriptions /zed/zed_node/rgb/image_rect_color/compressed/parameter_updates /zed/zed_node/rgb/image_rect_color/compressedDepth /zed/zed_node/rgb/image_rect_color/compressedDepth/parameter_descriptions /zed/zed_node/rgb/image_rect_color/compressedDepth/parameter_updates /zed/zed_node/rgb/image_rect_color/theora /zed/zed_node/rgb/image_rect_color/theora/parameter_descriptions /zed/zed_node/rgb/image_rect_color/theora/parameter_updates /zed/zed_node/rgb/image_rect_gray /zed/zed_node/rgb/image_rect_gray/compressed /zed/zed_node/rgb/image_rect_gray/compressed/parameter_descriptions /zed/zed_node/rgb/image_rect_gray/compressed/parameter_updates /zed/zed_node/rgb/image_rect_gray/compressedDepth /zed/zed_node/rgb/image_rect_gray/compressedDepth/parameter_descriptions /zed/zed_node/rgb/image_rect_gray/compressedDepth/parameter_updates /zed/zed_node/rgb/image_rect_gray/theora /zed/zed_node/rgb/image_rect_gray/theora/parameter_descriptions /zed/zed_node/rgb/image_rect_gray/theora/parameter_updates /zed/zed_node/rgb_raw/camera_info /zed/zed_node/rgb_raw/image_raw_color /zed/zed_node/rgb_raw/image_raw_color/compressed /zed/zed_node/rgb_raw/image_raw_color/compressed/parameter_descriptions /zed/zed_node/rgb_raw/image_raw_color/compressed/parameter_updates /zed/zed_node/rgb_raw/image_raw_color/compressedDepth /zed/zed_node/rgb_raw/image_raw_color/compressedDepth/parameter_descriptions /zed/zed_node/rgb_raw/image_raw_color/compressedDepth/parameter_updates /zed/zed_node/rgb_raw/image_raw_color/theora /zed/zed_node/rgb_raw/image_raw_color/theora/parameter_descriptions /zed/zed_node/rgb_raw/image_raw_color/theora/parameter_updates /zed/zed_node/rgb_raw/image_raw_gray /zed/zed_node/rgb_raw/image_raw_gray/compressed /zed/zed_node/rgb_raw/image_raw_gray/compressed/parameter_descriptions /zed/zed_node/rgb_raw/image_raw_gray/compressed/parameter_updates /zed/zed_node/rgb_raw/image_raw_gray/compressedDepth /zed/zed_node/rgb_raw/image_raw_gray/compressedDepth/parameter_descriptions /zed/zed_node/rgb_raw/image_raw_gray/compressedDepth/parameter_updates /zed/zed_node/rgb_raw/image_raw_gray/theora /zed/zed_node/rgb_raw/image_raw_gray/theora/parameter_descriptions /zed/zed_node/rgb_raw/image_raw_gray/theora/parameter_updates /zed/zed_node/right/camera_info /zed/zed_node/right/image_rect_color /zed/zed_node/right/image_rect_color/compressed /zed/zed_node/right/image_rect_color/compressed/parameter_descriptions /zed/zed_node/right/image_rect_color/compressed/parameter_updates /zed/zed_node/right/image_rect_color/compressedDepth /zed/zed_node/right/image_rect_color/compressedDepth/parameter_descriptions /zed/zed_node/right/image_rect_color/compressedDepth/parameter_updates /zed/zed_node/right/image_rect_color/theora /zed/zed_node/right/image_rect_color/theora/parameter_descriptions /zed/zed_node/right/image_rect_color/theora/parameter_updates /zed/zed_node/right/image_rect_gray /zed/zed_node/right/image_rect_gray/compressed /zed/zed_node/right/image_rect_gray/compressed/parameter_descriptions /zed/zed_node/right/image_rect_gray/compressed/parameter_updates /zed/zed_node/right/image_rect_gray/compressedDepth /zed/zed_node/right/image_rect_gray/compressedDepth/parameter_descriptions /zed/zed_node/right/image_rect_gray/compressedDepth/parameter_updates /zed/zed_node/right/image_rect_gray/theora /zed/zed_node/right/image_rect_gray/theora/parameter_descriptions /zed/zed_node/right/image_rect_gray/theora/parameter_updates /zed/zed_node/right_raw/camera_info /zed/zed_node/right_raw/image_raw_color /zed/zed_node/right_raw/image_raw_color/compressed /zed/zed_node/right_raw/image_raw_color/compressed/parameter_descriptions /zed/zed_node/right_raw/image_raw_color/compressed/parameter_updates /zed/zed_node/right_raw/image_raw_color/compressedDepth /zed/zed_node/right_raw/image_raw_color/compressedDepth/parameter_descriptions /zed/zed_node/right_raw/image_raw_color/compressedDepth/parameter_updates /zed/zed_node/right_raw/image_raw_color/theora /zed/zed_node/right_raw/image_raw_color/theora/parameter_descriptions /zed/zed_node/right_raw/image_raw_color/theora/parameter_updates /zed/zed_node/right_raw/image_raw_gray /zed/zed_node/right_raw/image_raw_gray/compressed /zed/zed_node/right_raw/image_raw_gray/compressed/parameter_descriptions /zed/zed_node/right_raw/image_raw_gray/compressed/parameter_updates /zed/zed_node/right_raw/image_raw_gray/compressedDepth /zed/zed_node/right_raw/image_raw_gray/compressedDepth/parameter_descriptions /zed/zed_node/right_raw/image_raw_gray/compressedDepth/parameter_updates /zed/zed_node/right_raw/image_raw_gray/theora /zed/zed_node/right_raw/image_raw_gray/theora/parameter_descriptions /zed/zed_node/right_raw/image_raw_gray/theora/parameter_updates /zed/zed_node/stereo/image_rect_color /zed/zed_node/stereo/image_rect_color/compressed /zed/zed_node/stereo/image_rect_color/compressed/parameter_descriptions /zed/zed_node/stereo/image_rect_color/compressed/parameter_updates /zed/zed_node/stereo/image_rect_color/compressedDepth /zed/zed_node/stereo/image_rect_color/compressedDepth/parameter_descriptions /zed/zed_node/stereo/image_rect_color/compressedDepth/parameter_updates /zed/zed_node/stereo/image_rect_color/theora /zed/zed_node/stereo/image_rect_color/theora/parameter_descriptions /zed/zed_node/stereo/image_rect_color/theora/parameter_updates /zed/zed_node/stereo_raw/image_raw_color /zed/zed_node/stereo_raw/image_raw_color/compressed /zed/zed_node/stereo_raw/image_raw_color/compressed/parameter_descriptions /zed/zed_node/stereo_raw/image_raw_color/compressed/parameter_updates /zed/zed_node/stereo_raw/image_raw_color/compressedDepth /zed/zed_node/stereo_raw/image_raw_color/compressedDepth/parameter_descriptions /zed/zed_node/stereo_raw/image_raw_color/compressedDepth/parameter_updates /zed/zed_node/stereo_raw/image_raw_color/theora /zed/zed_node/stereo_raw/image_raw_color/theora/parameter_descriptions /zed/zed_node/stereo_raw/image_raw_color/theora/parameter_updates
in rosnode zed_warpper while recording rosbag
[ERROR] [1713628306.538747796]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8). [ERROR] [1713628306.843905003]: Compressed Image Transport - JPEG compression requires 8/16-bit color format (input format is: 32FC1) [ERROR] [1713628306.844509718]: cv_bridge exception: '[32FC1] is not a color format. but [bgr8] is. The conversion does not make sense' [ERROR] [1713628306.900421388]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8). [ERROR] [1713628306.953036289]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8). [ERROR] [1713628306.995535188]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: mono8).
The errors you are encountering are primarily due to format incompatibilities between what your ROS node expects and what it is receiving, particularly in relation to image transport and the cv_bridge library. These errors occur when there is an attempt to use a specific image encoding or compression scheme that is not supported by the image data format received from your sensors or cameras.
Here's a breakdown of the main issues and how you might resolve them:

1. JPEG Compression and Color Format Issues

The error:
plaintextCopy code
Compressed Image Transport - JPEG compression requires 8/16-bit color format (input format is: 32FC1)
cv_bridge exception: '[32FC1] is not a color format. but [bgr8] is. The conversion does not make sense'

This indicates that the image transport is attempting to compress an image using JPEG, which requires an 8-bit or 16-bit color format, but the image format received is 32FC1 (32-bit floating point single channel, often used for depth images).

2. Depth Image Compression Issues

The error:
plaintextCopy code
Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8).

This suggests that the node is receiving bgra8 formatted images (8-bit blue, green, red, and alpha channels) where it expects either a 32-bit single floating-point channel or 16-bit raw depth image format for depth image compression.

Resolutions:

1. Correct Image Formats:
Ensure that the topics you subscribe to are publishing data in the expected formats. For example, depth data should be in 32FC1 if using floating-point representations or 16UC1 for 16-bit depth data.
Check the camera settings or the configuration of the node publishing these images to make sure the data formats align with what your subscribers expect.
2. Modify Subscribers or Publishers:
Adjust the subscriber to correctly interpret the incoming data format. You may need to modify your code to convert the received image data to the format expected by the processing pipeline.
If you have control over the publishing side, adjust the image format there to match what the subscribers (including image transport utilities) expect.
3. Update Image Transport Settings:
You might be using image transport plugins (like compressed_image_transport) that do not match the data type. Ensure that you have configured ROS to use the correct transport plugins for the type of data you're working with. For instance, using compressedDepth for depth data.
4. Modify cv_bridge Usage:
Update your usage of cv_bridge to handle different image encodings correctly. You might need conditional checks to handle different data formats appropriately, converting them as needed before further processing or publication.

Example of Handling Different Formats:

If you are using cv_bridge to convert images, ensure you handle the format discrepancies in your code. For example:
pythonCopy code
from cv_bridge import CvBridge, CvBridgeError
import rospy
from sensor_msgs.msg import Image

bridge = CvBridge()

def image_callback(msg):
try:
if msg.encoding == "32FC1":
cv_image = bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")
else:
cv_image = bridge.imgmsg_to_cv2(msg, desired_encoding="bgr8")
except CvBridgeError as e:
rospy.logerr(e)
Want to print your doc?
This is not the way.
Try clicking the ··· in the right corner or using a keyboard shortcut (
CtrlP
) instead.